System and method for controlling work machine

Abstract

A measurement value acquisition unit acquires measurement values from a plurality of sensors. A posture calculation unit calculates a posture of an attachment with respect to a vehicle body based on the measurement values. An operation signal acquisition unit acquires an operation signal from an operation device. An intervention control unit generates a control signal for the tilt rotator so that the posture of the attachment is held, based on the operation signal. An output unit outputs the generated control signal.

1 . A system for controlling a work machine including a support portion operably supported by a vehicle body, a tilt rotator attached to a tip of the support portion, and an attachment supported rotatably around three axes that intersect each other in different planes, by the support portion via the tilt rotator, the system comprising:
 a processor,   wherein the processor is configured to   acquire measurement values from a plurality of sensors,   calculate a posture of the attachment with respect to the vehicle body based on the measurement values,   generate a control signal for the tilt rotator so that the posture of the attachment is held, based on an operation signal from an operation device, and   output the generated control signal.   
     
     
         2 . The system according to  claim 1 ,
 wherein the processor is configured to   acquire an operation signal for operating the support portion from the operation device, and   generate a control signal for the tilt rotator so that the posture of the attachment is held, based on an operation amount indicated by the operation signal for operating the support portion.   
     
     
         3 . The system according to  claim 1 ,
 wherein the work machine further includes a base portion configured to swingably support the vehicle body, and   the processor is configured to   acquire an operation signal for swinging the vehicle body with respect to the base portion from the operation device, and   generate a control signal for the tilt rotator so that the posture of the attachment is held, based on an operation amount indicated by the operation signal for swinging the vehicle body.   
     
     
         4 . The system according to  claim 1 ,
 wherein the processor is configured to generate a control signal for the tilt rotator so that the posture of the attachment in a global coordinate system is held.   
     
     
         5 . The system according to  claim 1 ,
 wherein the processor is configured to calculate angular velocities around the three axes for the attachment to hold the posture, based on an operation amount indicated by the operation signal.   
     
     
         6 . The system according to  claim 1 ,
 wherein the processor is configured to, in a case where an operation signal for operating the tilt rotator is input from the operation device, output a control signal based on the input operation signal without outputting the generated control signal for the tilt rotator.   
     
     
         7 . A method for controlling a work machine including a base portion configured to swingably support a vehicle body, a support portion operably supported by the vehicle body, a tilt rotator attached to a tip of the support portion, and an attachment supported rotatably around three axes that intersect each other in different planes, by the support portion via the tilt rotator, the method comprising:
 a step of acquiring measurement values from a plurality of sensors;   a step of calculating a posture of the attachment with respect to the vehicle body based on the measurement values;   a step of generating a control signal for the tilt rotator so that the posture of the attachment is held, based on an operation signal from an operation device; and   a step of controlling the tilt rotator according to the generated control signal.